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<div class="title">point_types_conversion.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
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<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160; </div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160;<span class="preprocessor">#ifndef PCL_TYPE_CONVERSIONS_H</span></div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#define PCL_TYPE_CONVERSIONS_H</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160; </div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160; </div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160;{</div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;  <span class="comment">// r,g,b, i values are from 0 to 1</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;  <span class="comment">// h = [0,360]</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;  <span class="comment">// s, v values are from 0 to 1</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160;  <span class="comment">// if s = 0 &gt; h = -1 (undefined)</span></div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno">   55</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;  PointXYZRGBtoXYZI (<span class="keyword">const</span> PointXYZRGB&amp; in,</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;                     PointXYZI&amp;         out)</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;  {</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;    out.x = in.x; out.y = in.y; out.z = in.z;</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    out.intensity = 0.299f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.r) + 0.587f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.g) + 0.114f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.b);</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160;  }</div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160; </div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;  PointRGBtoI (<span class="keyword">const</span> RGB&amp;    in,</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160;               Intensity&amp;    out)</div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;  {</div>
<div class="line"><a name="l00071"></a><span class="lineno">   71</span>&#160;    out.intensity = 0.299f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.r) + 0.587f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.g) + 0.114f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.b);</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;  }</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160; </div>
<div class="line"><a name="l00078"></a><span class="lineno">   78</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;  PointRGBtoI (<span class="keyword">const</span> RGB&amp;    in,</div>
<div class="line"><a name="l00080"></a><span class="lineno">   80</span>&#160;               Intensity8u&amp;  out)</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160;  {</div>
<div class="line"><a name="l00082"></a><span class="lineno">   82</span>&#160;    out.intensity = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span>(std::numeric_limits&lt;uint8_t&gt;::max() * 0.299f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.r)</div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;                      + 0.587f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.g) + 0.114f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.b));</div>
<div class="line"><a name="l00084"></a><span class="lineno">   84</span>&#160;  }</div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160; </div>
<div class="line"><a name="l00090"></a><span class="lineno">   90</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00091"></a><span class="lineno">   91</span>&#160;  PointRGBtoI (<span class="keyword">const</span> RGB&amp;    in,</div>
<div class="line"><a name="l00092"></a><span class="lineno">   92</span>&#160;               Intensity32u&amp; out)</div>
<div class="line"><a name="l00093"></a><span class="lineno">   93</span>&#160;  {</div>
<div class="line"><a name="l00094"></a><span class="lineno">   94</span>&#160;    out.intensity = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>(std::numeric_limits&lt;uint32_t&gt;::max()) * 0.299f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.r)</div>
<div class="line"><a name="l00095"></a><span class="lineno">   95</span>&#160;                      + 0.587f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.g) + 0.114f * <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.b));</div>
<div class="line"><a name="l00096"></a><span class="lineno">   96</span>&#160;  }</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160; </div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;  PointXYZRGBtoXYZHSV (<span class="keyword">const</span> PointXYZRGB&amp; in,</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;                       PointXYZHSV&amp;       out)</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160;  {</div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> max = std::max (in.r, std::max (in.g, in.b));</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> min = std::min (in.r, std::min (in.g, in.b));</div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160; </div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;    out.x = in.x; out.y = in.y; out.z = in.z;</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160;    out.v = <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (max) / 255.f;</div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160; </div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160;    <span class="keywordflow">if</span> (max == 0) <span class="comment">// division by zero</span></div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;    {</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;      out.s = 0.f;</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;      out.h = 0.f; <span class="comment">// h = -1.f;</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160;    }</div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160; </div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> diff = <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (max - min);</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;    out.s = diff / <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (max);</div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160; </div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;    <span class="keywordflow">if</span> (min == max) <span class="comment">// diff == 0 -&gt; division by zero</span></div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;    {</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;      out.h = 0;</div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;    }</div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160; </div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;    <span class="keywordflow">if</span>      (max == in.r) out.h = 60.f * (      <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.g - in.b) / diff);</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (max == in.g) out.h = 60.f * (2.f + <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.b - in.r) / diff);</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;    <span class="keywordflow">else</span>                  out.h = 60.f * (4.f + <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.r - in.g) / diff); <span class="comment">// max == b</span></div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00132"></a><span class="lineno">  132</span>&#160;    <span class="keywordflow">if</span> (out.h &lt; 0.f) out.h += 360.f;</div>
<div class="line"><a name="l00133"></a><span class="lineno">  133</span>&#160;  }</div>
<div class="line"><a name="l00134"></a><span class="lineno">  134</span>&#160; </div>
<div class="line"><a name="l00140"></a><span class="lineno">  140</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00141"></a><span class="lineno">  141</span>&#160;  PointXYZRGBAtoXYZHSV (<span class="keyword">const</span> PointXYZRGBA&amp; in,</div>
<div class="line"><a name="l00142"></a><span class="lineno">  142</span>&#160;                        PointXYZHSV&amp;        out)</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;  {</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> max = std::max (in.r, std::max (in.g, in.b));</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> min = std::min (in.r, std::min (in.g, in.b));</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160; </div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;    out.x = in.x; out.y = in.y; out.z = in.z;</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;    out.v = <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (max) / 255.f;</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160; </div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;    <span class="keywordflow">if</span> (max == 0) <span class="comment">// division by zero</span></div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;    {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;      out.s = 0.f;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;      out.h = 0.f; <span class="comment">// h = -1.f;</span></div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160;    }</div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160; </div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160;    <span class="keyword">const</span> <span class="keywordtype">float</span> diff = <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (max - min);</div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;    out.s = diff / <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (max);</div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160; </div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;    <span class="keywordflow">if</span> (min == max) <span class="comment">// diff == 0 -&gt; division by zero</span></div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160;    {</div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;      out.h = 0;</div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;    }</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160; </div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160;    <span class="keywordflow">if</span>      (max == in.r) out.h = 60.f * (      <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.g - in.b) / diff);</div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;    <span class="keywordflow">else</span> <span class="keywordflow">if</span> (max == in.g) out.h = 60.f * (2.f + <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.b - in.r) / diff);</div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;    <span class="keywordflow">else</span>                  out.h = 60.f * (4.f + <span class="keyword">static_cast &lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (in.r - in.g) / diff); <span class="comment">// max == b</span></div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160; </div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160;    <span class="keywordflow">if</span> (out.h &lt; 0.f) out.h += 360.f;</div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;  }</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160; </div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160;  <span class="comment">/* \brief Convert a XYZHSV point type to a XYZRGB</span></div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;<span class="comment">    * \param[in] in the input XYZHSV point </span></div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;<span class="comment">    * \param[out] out the output XYZRGB point</span></div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;<span class="comment">    */</span></div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;  PointXYZHSVtoXYZRGB (<span class="keyword">const</span> PointXYZHSV&amp;  in,</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;                       PointXYZRGB&amp;        out)</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;  {</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160;    out.x = in.x; out.y = in.y; out.z = in.z;</div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;    <span class="keywordflow">if</span> (in.s == 0)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;    {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;      out.r = out.g = out.b = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * in.v);</div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;      <span class="keywordflow">return</span>;</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160;    } </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;    <span class="keywordtype">float</span> a = in.h / 60;</div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;    <span class="keywordtype">int</span>   i = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (floorf (a));</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;    <span class="keywordtype">float</span> f = a - <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (i);</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;    <span class="keywordtype">float</span> p = in.v * (1 - in.s);</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160;    <span class="keywordtype">float</span> q = in.v * (1 - in.s * f);</div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;    <span class="keywordtype">float</span> t = in.v * (1 - in.s * (1 - f));</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160; </div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;    <span class="keywordflow">switch</span> (i)</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;    {</div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;      <span class="keywordflow">case</span> 0:</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;      {</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160;        out.r = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * in.v);</div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;        out.g = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * t);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;        out.b = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * p);</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160;      <span class="keywordflow">case</span> 1:</div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160;      {</div>
<div class="line"><a name="l00205"></a><span class="lineno">  205</span>&#160;        out.r = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * q); </div>
<div class="line"><a name="l00206"></a><span class="lineno">  206</span>&#160;        out.g = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * in.v); </div>
<div class="line"><a name="l00207"></a><span class="lineno">  207</span>&#160;        out.b = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * p); </div>
<div class="line"><a name="l00208"></a><span class="lineno">  208</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00209"></a><span class="lineno">  209</span>&#160;      }</div>
<div class="line"><a name="l00210"></a><span class="lineno">  210</span>&#160;      <span class="keywordflow">case</span> 2:</div>
<div class="line"><a name="l00211"></a><span class="lineno">  211</span>&#160;      {</div>
<div class="line"><a name="l00212"></a><span class="lineno">  212</span>&#160;        out.r = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * p);</div>
<div class="line"><a name="l00213"></a><span class="lineno">  213</span>&#160;        out.g = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * in.v);</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;        out.b = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * t);</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;      }</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;      <span class="keywordflow">case</span> 3:</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;      {</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;        out.r = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * p);</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;        out.g = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * q);</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        out.b = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * in.v);</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;      }</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160;      <span class="keywordflow">case</span> 4:</div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;      {</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160;        out.r = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * t);</div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        out.g = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * p); </div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        out.b = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * in.v); </div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160;      }</div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;      <span class="keywordflow">default</span>:</div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;      {</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        out.r = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * in.v); </div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        out.g = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * p); </div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160;        out.b = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span> (255 * q);</div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="keywordflow">break</span>;</div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;      }      </div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;    }</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160;  }</div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160; </div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;  PointCloudRGBtoI (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;RGB&gt;</a>&amp;  in,</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;Intensity&gt;</a>&amp;  out)</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;  {</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>   = in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>  = in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;    {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;      Intensity p;</div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;      PointRGBtoI (in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], p);</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160;      out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (p);</div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;    }</div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;  }</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160; </div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;  PointCloudRGBtoI (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;RGB&gt;</a>&amp;    in,</div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;Intensity8u&gt;</a>&amp;  out)</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;  {</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>   = in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>  = in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160;    {</div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      Intensity8u p;</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160;      PointRGBtoI (in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], p);</div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;      out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (p);</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160;    }</div>
<div class="line"><a name="l00275"></a><span class="lineno">  275</span>&#160;  }</div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160; </div>
<div class="line"><a name="l00281"></a><span class="lineno">  281</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00282"></a><span class="lineno">  282</span>&#160;  PointCloudRGBtoI (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;RGB&gt;</a>&amp;     in,</div>
<div class="line"><a name="l00283"></a><span class="lineno">  283</span>&#160;                    <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;Intensity32u&gt;</a>&amp;  out)</div>
<div class="line"><a name="l00284"></a><span class="lineno">  284</span>&#160;  {</div>
<div class="line"><a name="l00285"></a><span class="lineno">  285</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>   = in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00286"></a><span class="lineno">  286</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>  = in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00287"></a><span class="lineno">  287</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00288"></a><span class="lineno">  288</span>&#160;    {</div>
<div class="line"><a name="l00289"></a><span class="lineno">  289</span>&#160;      Intensity32u p;</div>
<div class="line"><a name="l00290"></a><span class="lineno">  290</span>&#160;      PointRGBtoI (in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], p);</div>
<div class="line"><a name="l00291"></a><span class="lineno">  291</span>&#160;      out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (p);</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;    }</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;  }</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160; </div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160;  PointCloudXYZRGBtoXYZHSV (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZRGB&gt;</a>&amp; in,</div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;                            <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZHSV&gt;</a>&amp;       out)</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160;  {</div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>   = in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>  = in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160;    {</div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;      PointXYZHSV p;</div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;      PointXYZRGBtoXYZHSV (in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], p);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;      out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (p);</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;    }</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;  }</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;  PointCloudXYZRGBAtoXYZHSV (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZRGBA&gt;</a>&amp; in,</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;                             <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZHSV&gt;</a>&amp;        out)</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;  {</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>   = in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>  = in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;    {</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;      PointXYZHSV p;</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;      PointXYZRGBAtoXYZHSV (in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], p);</div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;      out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (p);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;    }</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;  }</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160; </div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span> </div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;  PointCloudXYZRGBtoXYZI (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZRGB&gt;</a>&amp; in,</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160;                          <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZI&gt;</a>&amp;         out)</div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;  {</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>   = in.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>  = in.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i = 0; i &lt; in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size (); i++)</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160;    {</div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160;      PointXYZI p;</div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;      PointXYZRGBtoXYZI (in.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i], p);</div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;      out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (p);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160;    }</div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;  }</div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160; </div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;  <span class="keyword">inline</span> <span class="keywordtype">void</span></div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;  PointCloudDepthAndRGBtoXYZRGBA (<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;Intensity&gt;</a>&amp;  depth,</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;                                  <span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;RGB&gt;</a>&amp;        image,</div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;                                  <span class="keyword">const</span> <span class="keywordtype">float</span>&amp;                  focal,</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;                                  <a class="code" href="classpcl_1_1_point_cloud.html">PointCloud&lt;PointXYZRGBA&gt;</a>&amp;     out)</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;  {</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;    <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN();</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;    <span class="keywordtype">size_t</span> width_ = depth.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a>;</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160;    <span class="keywordtype">size_t</span> height_ = depth.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a>;</div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;    <span class="keywordtype">float</span> constant_ = 1.0f / focal;</div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160; </div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;    <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> v = 0; v &lt; height_; v++)</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;    {</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160;      <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> u = 0; u &lt; width_; u++)</div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      {</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160;        PointXYZRGBA pt;</div>
<div class="line"><a name="l00371"></a><span class="lineno">  371</span>&#160;        pt.a = 0;</div>
<div class="line"><a name="l00372"></a><span class="lineno">  372</span>&#160;        <span class="keywordtype">float</span> depth_ = depth.<a class="code" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> (u, v).intensity;</div>
<div class="line"><a name="l00373"></a><span class="lineno">  373</span>&#160; </div>
<div class="line"><a name="l00374"></a><span class="lineno">  374</span>&#160;        <span class="keywordflow">if</span> (depth_ == 0)</div>
<div class="line"><a name="l00375"></a><span class="lineno">  375</span>&#160;        {</div>
<div class="line"><a name="l00376"></a><span class="lineno">  376</span>&#160;          pt.x = pt.y = pt.z = bad_point;</div>
<div class="line"><a name="l00377"></a><span class="lineno">  377</span>&#160;        }</div>
<div class="line"><a name="l00378"></a><span class="lineno">  378</span>&#160;        <span class="keywordflow">else</span></div>
<div class="line"><a name="l00379"></a><span class="lineno">  379</span>&#160;        {</div>
<div class="line"><a name="l00380"></a><span class="lineno">  380</span>&#160;          pt.z = depth_ * 0.001f;</div>
<div class="line"><a name="l00381"></a><span class="lineno">  381</span>&#160;          pt.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (u) * pt.z * constant_;</div>
<div class="line"><a name="l00382"></a><span class="lineno">  382</span>&#160;          pt.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (v) * pt.z * constant_;</div>
<div class="line"><a name="l00383"></a><span class="lineno">  383</span>&#160;        }</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;        pt.r = image.<a class="code" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> (u, v).r;</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;        pt.g = image.<a class="code" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> (u, v).g;</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;        pt.b = image.<a class="code" href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">at</a> (u, v).b;</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160; </div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;        out.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (pt);</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;      }</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;    }</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = width_;</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;    out.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = height_;</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;  }</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;}</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160; </div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160;<span class="preprocessor">#endif </span><span class="comment">//#ifndef PCL_TYPE_CONVERSIONS_H</span></div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160; </div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a1155fe4ba5cdc7e83cb72159a4ea02dc"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a1155fe4ba5cdc7e83cb72159a4ea02dc">pcl::PointCloud::at</a></div><div class="ttdeci">const PointT &amp; at(int column, int row) const</div><div class="ttdoc">Obtain the point given by the (column, row) coordinates. Only works on organized datasets (those that...</div><div class="ttdef"><b>Definition:</b> point_cloud.h:283</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
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